Stock-based Compensation Expense - Summary of Stock Option Activity (Details) - 2019 Plan and 2016 Plan - Stock Option - USD ($)	9 Months Ended	12 Months Ended
	Sep. 30, 2022	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of Shares, Outstanding, Beginning balance	5,188,354
Number of Shares, Granted	2,826,130
Number of Shares, Exercised	(362,169)
Number of Shares, Cancelled	(1,723,250)
Number of Shares, Outstanding, Ending balance	5,929,065	5,188,354
Number of Shares, Exercisable	2,002,770
Weighted Average Exercise Price, Outstanding, Beginning balance	$ 13.91
Weighted Average Exercise Price, Granted	11.51
Weighted Average Exercise Price, Exercised	8.55
Weighted Average Exercise Price, Cancelled	14.60
Weighted Average Exercise Price, Outstanding, Ending balance	12.89	$ 13.91
Weighted Average Exercise Price, Exercisable	$ 12.68
Weighted Average Remaining Contractual Term (in years), Outstanding	8 years 4 months 9 days	8 years 6 months 25 days
Weighted Average Remaining Contractual Term (in years), Exercisable	6 years 10 months 17 days
Aggregate Intrinsic Value, Outstanding	$ 1,568,734	$ 27,082,052
Aggregate Intrinsic Value, Exercisable	$ 295,030